Method and Device for Positioning Intelligent Terminal Apparatus, as Well as Intelligent Terminal Apparatus Associated Therewith

1. A method for positioning an intelligent terminal apparatus, comprising the steps of: a) acquiring data points scanned by a position detection device in the intelligent terminal apparatus at the current position of the intelligent terminal apparatus; b) converting valid data points of the data points into segment features to obtain a first set of segment features corresponding to the current position; and converting point features in an established map of the intelligent terminal apparatus into segment features to obtain a second set of segment features corresponding to the established map of the intelligent terminal apparatus, wherein each of the valid data points is converted to a corresponding segment feature, and each of the point features is converted to a corresponding segment feature; c) selecting segments having the same position relationship respectively from the first set of segment features and the second set of segment features to form a first candidate subset of the first set of segment features and a second candidate subset of the second set of segment features; and d) determining a transformation matrix that matches the first candidate subset to the second candidate subset, and identifying the current position and the orientation angle of the intelligent terminal apparatus in the established map based on the transformation matrix.

2. The method according to claim 1 , wherein before the acquiring step, the method further comprises: detecting a state of a suspension system in the intelligent terminal apparatus; and carrying out the steps a)-d), if there is a record showing that the suspension system in the intelligent terminal apparatus was in a deployed state, and the suspension system is currently in a retracted state.

3. The method according to claim 1 , wherein said selecting segments having the same position relationship respectively from the first set of segment features and the second set of segment features comprises: analyzing the position relationship between every two segments in the first set of segment features, and analyzing the position relationship between every two segments in the second set of segment features; comparing the position relationship between every two segments in the first set of segment features with the position relationship between every two segments in the second set of segment features; and when the position relationship between a first segment and a second segment in the first set of segment features being identical with the position relationship between a third segment and a fourth segment in the second set of segment features, selecting the first segment and the second segment from the first set of segment features and putting them into the first candidate subset of the first set of segment features, and selecting the third segment and the fourth segment from the second set of segment features and putting them into the second candidate subset of the second set of segment features.

4. The method according to claim 3 , wherein said analyzing the position relationship between every two segments comprises calculating an angle difference between every two segments.

5. The method according to claim 4 , wherein the position relationship between the first segment and the second segment in the first set of segment features being identical with the position relationship between the third segment and the fourth segment in the second set of segment features comprises: a difference between a first angle difference between the first segment and the second segment and a second angle difference between the third segment and the fourth segment being smaller than or equal to a predetermined angle difference threshold.

6. The method according to claim 1 , wherein the valid data points are converted into segment features by Hough transformation, and the point features in the established map of the intelligent terminal apparatus are converted into segment features by Hough transformation.

7. The method according to claim 1 , wherein given that the first candidate set is O1 and the second candidate set is M1, the transformation matrix C is determined according to the following formula: M1=C×O1; wherein the transformation matrix is represented by a translation vector and a rotation angle; and the current position and the orientation angle of the intelligent terminal apparatus are identified in the established map based on the translation vector and the rotation angle respectively.

8. The method according to claim 7 , wherein said determining a transformation matrix that matches the first candidate subset to the second candidate subset comprises: setting initial values for the translation vector and the rotation angle of the transformation matrix C; and performing at least two passes of iteration by using initial values of the translation vector and the rotation angle as iteration initial values, calculating an error E=∥M1−C×O1∥ 2 for each pass of iteration, and obtaining an optimal solution of the transformation matrix C when the error E is minimum.

9. A device for positioning an intelligent terminal apparatus, comprising: an acquisition module arranged to acquire data points scanned by a position detection device in the intelligent terminal apparatus at the current position of the intelligent terminal apparatus; a conversion module arranged to convert valid data points of the data points into segment features to obtain a first set of segment features corresponding to the current position, and convert point features in an established map of the intelligent terminal apparatus into segment features to obtain a second set of segment features corresponding to the established map of the intelligent terminal apparatus, wherein one data point is converted to one corresponding segment feature, and one point feature is converted to one corresponding segment feature; a selection module arranged to select segments having the same position relationship respectively from the first set of segment features and the second set of segment features to form a first candidate subset of the first set of segment features and a second candidate subset of the second set of segment features; and an identification module arranged to determine a transformation matrix that matches the first candidate subset to the second candidate subset, and identify the current position and an orientation angle of the intelligent terminal apparatus in the established map based on the transformation matrix.

10. The device according to claim 9 , wherein the device further comprises: a detection module arranged to detect the state of a suspension system in the intelligent terminal apparatus, and record a deployed state if the suspension system is deployed; and the acquisition module configured to be initiated to acquire the data points scanned by the position detection device in the intelligent terminal apparatus at the current position of the intelligent terminal apparatus when the detection module records the deployed state of the suspension system and the current state of the suspension system is detected as retracted.

11. The device according to claim 9 , wherein the selection module comprises: an analysis sub-module arranged to analyze the position relationship between every two segments in the first set of segment features and analyze the position relationship between every two segments in the second set of segment features before selecting segments having the same position relationship respectively from the first set of segment features and the second set of segment features; a comparison sub-module arranged to compare the position relationship between every two segments in the first set of segment features with the position relationship between every two segments in the second set of segment features; and a segment selection sub-module arranged to select a first segment and a second segment from the first set of segment features and put them into the first candidate subset of the first set of segment features, and select a third segment and a fourth segment from the second set of segment features and put them into a second candidate subset of the second set of segment features, if the position relationship between the first segment and the second segment in the first set of segment features is identical with the position relationship between the third segment and the fourth segment in the second set of segment features.

12. The device according to claim 11 , wherein the analysis sub-module is configured to analyze the position relationship between every two segments by calculating an angle difference between the every two segments.

13. The device according to claim 12 , wherein the position relationship between the first segment and the second segment in the first set of segment features being identical with the position relationship between the third segment and the fourth segment in the second set of segment features comprises: the difference between a first angle difference between the first segment and the second segment and a second angle difference between the third segment and the fourth segment being smaller than or equal to a predetermined threshold.

14. The device according to claim 9 , wherein the conversion module is configured to convert the valid data points in the data points into segment features by Hough transformation, and convert the point features in the established map of the intelligent terminal apparatus into segment features by Hough transformation.

15. The device according to claim 9 , wherein given that the first candidate set is O1 and the second candidate set is M1, the identification module determines the transformation matrix C according to the following formula: M1=C×O1; wherein the transformation matrix is represented by a translation vector and a rotation angle; and the identification module identifies the current position and the orientation angle of the intelligent terminal apparatus in the established map based on the translation vector and the rotation angle respectively.

16. The device according to claim 15 , wherein the identification module is configured to determine the transformation matrix by: setting initial values for the translation vector and the rotation angle of the transformation matrix C, performing at least two passes of iteration by using initial values of the translation vector and the rotation angle as iteration initial values, calculating an error E=∥M1−C×O1∥ 2 for each pass of iteration, and obtaining an optimal solution of the transformation matrix C when the error E is minimum.

17. An intelligent terminal apparatus, comprising: one or more processors; a storage device for storing one or more programs; wherein the one or more programs when executed by the one or more processors causes the one or more processors to perform the method according to claim 1 .

18. A non-transitory storage medium comprising computer executable instructions, wherein the computer executable instructions are configured so as when executed by a computer processor to perform the method according to claim 1 .

19. An intelligent terminal apparatus, comprising: a position detection device, and a device for positioning the intelligent terminal apparatus according to claim 9 .

20. The non-transitory storage medium according to claim 18 , wherein given that the first candidate set is O1 and the second candidate set is M1, the transformation matrix C is determined according to the following formula: M1=C×O1; wherein the transformation matrix is represented by a translation vector and a rotation angle; and the current position and the orientation angle of the intelligent terminal apparatus are identified in the established map based on the translation vector and the rotation angle respectively.